A three-degree-of-freedom parallel palletizing manipulator
A degree of freedom, manipulator technology, applied in manipulators, program-controlled manipulators, stacking of objects, etc., can solve the problems of heavy robot arm, poor mechanical dynamic performance, accumulation of joint errors, etc., and achieve kinematic and dynamic performance. Good, small inertia of the manipulator, and light weight of the mechanism
Inactive Publication Date: 2015-09-02
JIANGXI MECHANICAL SCI RES INST
View PDF11 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
However, the drive motors of such traditional palletizing robots with an open-chain series structure need to be installed at the joints, resulting in problems such as heavy weight, poor rigidity, large inertia, and accumulation of joint errors. The dynamic performance of the mechanism is poor, and it is difficult to meet Requirements for high-speed and heavy-duty handling and palletizing
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0015] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0016] control figure 1 , a three-degree-of-freedom parallel palletizing manipulator, including a frame 1, a constraining branch chain, a first active branch chain, a second active branch chain and a third active branch chain.
[0017] The constraining branch chain is composed of a turntable 2, a first connecting rod 3, a second connecting rod 4, a moving platform 5, a third connecting rod 6, a cage 7 and a fourth connecting rod 8. The turntable 2 passes through the first rotating pair 9 Connected with the frame 1, the turntable 2 is connected with the first connecting rod 3 through the second rotating pair 10, the first connecting rod 3 is connected with the second connecting rod 4 through the third rotating pair 11, and the second connecting rod 4 is connected through the fourth rotating The pair 12 is connected with the mo...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention relates to a three-degree-of-freedom parallel stacking manipulator, which comprises a machine frame, a constraint branched chain, a first active branched chain, a second active branched chain and a third active branched chain, wherein the constraint branched chain is a passive moving branched chain with three degrees of spatial freedom, and the movement is finished through the common driving of the first active branched chain, the second active branched chain and the third active branched chain. The three-degree-of-freedom parallel stacking manipulator has the characteristics of simple structure, light mechanism self-moving mass, good rigidity, small inertia, good dynamical performance and stronger load-carrying capacity as compared with like products.
Description
technical field [0001] The invention relates to the field of industrial robots, in particular to a three-degree-of-freedom parallel palletizing manipulator. Background technique [0002] Palletizing robots are widely used in automatic handling operations such as machine tool loading and unloading, stamping machine automated production lines, automatic assembly lines, palletizing, and containers. Existing palletizing robots mainly include structural types such as rectangular coordinate type, cylindrical coordinate type, and joint type. Among them, the articulated palletizing robot has gradually become the most important structural form of the palletizing robot because of its compact structure, flexible movement, small footprint, and large working space. However, the drive motors of such traditional palletizing robots with an open-chain series structure need to be installed at the joints, resulting in problems such as heavy weight, poor rigidity, large inertia, and accumulati...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): B65G61/00B25J9/10
Inventor 王红州郑小民陈润六
Owner JIANGXI MECHANICAL SCI RES INST